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C API providing a middleware abstraction layer which is used to implement the rest of ROS.
key_value.hpp
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1 // Copyright 2017 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RMW__IMPL__CPP__KEY_VALUE_HPP_
16 #define RMW__IMPL__CPP__KEY_VALUE_HPP_
17 
18 #include <map>
19 #include <string>
20 #include <vector>
21 
22 namespace rmw
23 {
24 namespace impl
25 {
26 namespace cpp
27 {
28 
29 // TODO(karsten1987): Implement based on
30 // https://github.com/PrismTech/opensplice/blob/master/docs/pdf/OpenSplice_refman_CPP.pdf
32 parse_key_value(std::vector<uint8_t> kv)
33 {
35 
36  bool keyfound = false;
37 
38  std::string key;
40  uint8_t prev = '\0';
41 
42  if (kv.size() == 0) {
43  goto not_valid;
44  }
45 
46  for (uint8_t u8 : kv) {
47  if (keyfound) {
48  if ((u8 == ';') && (prev != ';')) {
49  prev = u8;
50  continue;
51  } else if ((u8 != ';') && (prev == ';')) {
52  if (value.size() == 0) {
53  goto not_valid;
54  }
55  m[key] = value;
56 
57  key.clear();
58  value.clear();
59  keyfound = false;
60  } else {
61  value.push_back(u8);
62  }
63  }
64  if (!keyfound) {
65  if (u8 == '=') {
66  if (key.size() == 0) {
67  goto not_valid;
68  }
69  keyfound = true;
70  } else if (isalnum(u8)) {
71  key.push_back(u8);
72  } else if ((u8 == '\0') && (key.size() == 0) && (m.size() > 0)) {
73  break; // accept trailing '\0' characters
74  } else if ((prev != ';') || (key.size() > 0)) {
75  goto not_valid;
76  }
77  }
78  prev = u8;
79  }
80  if (keyfound) {
81  if (value.size() == 0) {
82  goto not_valid;
83  }
84  m[key] = value;
85  } else if (key.size() > 0) {
86  goto not_valid;
87  }
88  return m;
89 not_valid:
90  // This is not a failure this is something that can happen because the participant_qos userData
91  // is used. Other participants in the system not created by rmw could use userData for something
92  // else.
94 }
95 
96 } // namespace cpp
97 } // namespace impl
98 } // namespace rmw
99 
100 #endif // RMW__IMPL__CPP__KEY_VALUE_HPP_
std::string
std::vector
std::vector::size
T size(T... args)
std::isalnum
T isalnum(T... args)
std::string::clear
T clear(T... args)
std::vector::push_back
T push_back(T... args)
std::map
std::prev
T prev(T... args)
rmw
Definition: demangle.hpp:29